Smart lane dividing method and device based on microwave radar echo signal

Abstract

The invention, which relates to the field of the intelligent traffic technology, provides a smart lane dividing method and device based on a microwave radar echo signal. The method comprises: according to data collected by a radar system, determining vehicle target sample point data including a first sample point coordinate set representing a distance between the radar system and a target vehicle, amplitudes of various sample points in the first sample point coordinate set, and energy distribution data of the first sample point coordinate set; on the basis of the energy distribution data of the first sample point coordinate set, selecting a second sample point coordinate set with amplitudes larger than a dynamic threshold value from the first sample point coordinate set by using a statistical-characteristic-based threshold processing method; with a sample-density-feature-based dynamic radius extraction method, processing the second sample point coordinate set and extracting effective sample points from the second sample point coordinate set; and carrying out clustering on the effective sample points by using a kernel-similarity-based dynamic clustering algorithm to generate a clustering result, and determining a central line of a lane.

Description

technical field [0001] The invention relates to the technical field of intelligent transportation, in particular to an intelligent lane division method and device based on microwave radar echo signals. Background technique [0002] Currently, lane detection is a long-term research hotspot in intelligent transportation systems. Lane detection includes the detection of lane lines, the detection of road boundaries, and the detection of vehicle traversable areas. At present, vision-based detection technology is the most widely used due to the advantages of large amount of information acquired by cameras and low cost. However, the pictures taken by the camera are easily affected by the external environment such as light and weather, and the requirements for the environmental conditions are relatively strict, resulting in inaccurate results of the vision-based detection technology. In recent years, with the development of radar detection technology, and because radar is not affe...

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a method and device for intelligent lane division based on microwave radar echo signals to solve the problem that the current lane detection and division methods require high requirements for the installation position of the radar and manually measure the swing of the radar. The angle and the distance from the radar to the center of the lane and other information make the process of lane detection and division more cumbersome and inconvenient.

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